From 1a537d7f79e9738c566d4eba872dbf0b8e91ba81 Mon Sep 17 00:00:00 2001
From: fcl <2136892861@qq.com>
Date: Tue, 10 Mar 2026 19:10:47 +0800
Subject: [PATCH] =?UTF-8?q?=E5=BE=85=E6=B5=8B=E7=89=88=E6=9C=AC=EF=BC=88ID?=
 =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=AE=8C=E6=88=90=EF=BC=89?=
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---
 application/gimbal/gimbal.c     |  2 +-
 application/shoot/shoot.c       |  8 ++++----
 modules/algorithm/controller.c  | 12 ++++++------
 modules/remote/remote_control.c |  2 +-
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 0fa3539..85fb1e5 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -66,7 +66,7 @@ void GimbalInit()
     Motor_Init_Config_s pitch_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 4,
+            .tx_id = 4,//2
         },
         .controller_param_init_config = {
             .angle_PID = {
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 921402c..d9260e4 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -52,10 +52,10 @@ void ShootInit()
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
         .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 1,
+    friction_config.can_init_config.tx_id = 5,
     friction_l = DJIMotorInit(&friction_config);
 
-    friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行
+    friction_config.can_init_config.tx_id = 8; // 右摩擦轮,改txid和方向就行
     friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
     friction_r = DJIMotorInit(&friction_config);
 
@@ -63,7 +63,7 @@ void ShootInit()
     Motor_Init_Config_s loader_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 5,
+            .tx_id = 7,
         },
         .controller_param_init_config = {
             .angle_PID = {
@@ -96,7 +96,7 @@ void ShootInit()
             .close_loop_type = CURRENT_LOOP | SPEED_LOOP,
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
         },
-        .motor_type = M3508 // 英雄使用m3508
+        .motor_type = M2006 // 英雄使用m3508
     };
     loader = DJIMotorInit(&loader_config);
 
diff --git a/modules/algorithm/controller.c b/modules/algorithm/controller.c
index 7d35614..4ab6ac4 100644
--- a/modules/algorithm/controller.c
+++ b/modules/algorithm/controller.c
@@ -61,10 +61,10 @@ static void f_Integral_Limit(PIDInstance *pid)
 }
 
 // 微分先行(仅使用反馈值而不计参考输入的微分)
-static void f_Derivative_On_Measurement(PIDInstance *pid)
-{
-    pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
-}
+// static void f_Derivative_On_Measurement(PIDInstance *pid)
+// {
+//     pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
+// }
 
 // 微分滤波(采集微分时,滤除高频噪声)
 static void f_Derivative_Filter(PIDInstance *pid)
@@ -172,8 +172,8 @@ float PIDCalculate(PIDInstance *pid, float measure, float ref)
         if (pid->Improve & PID_ChangingIntegrationRate)
             f_Changing_Integration_Rate(pid);
         // 微分先行
-        if (pid->Improve & PID_Derivative_On_Measurement)
-            f_Derivative_On_Measurement(pid);
+        // if (pid->Improve & PID_Derivative_On_Measurement)
+        //     f_Derivative_On_Measurement(pid);
         // 微分滤波器
         if (pid->Improve & PID_DerivativeFilter)
             f_Derivative_Filter(pid);
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index 95d3b10..e9a0434 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -40,7 +40,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf)
     rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
     rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 3
     rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET;
-    rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_;
+    rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_+30;
     // 左侧拨轮
     RectifyRCjoystick();
     // 开关,0左1右